urdf/door2/door2.urdf

<?xml version="1.0" ?>
<robot name="door">
  <link name="root">
  </link>
  <joint name="root_rotation" type="revolute">
    <origin rpy="0 -1.56 0" xyz="0 0 0"/>
    <parent link="root"/>
    <child link="body"/>
    <axis xyz="0 1 0"/>
    <dynamics damping="0.01" friction="0.01"/>
    <limit effort="44.4" lower="-2.0" upper="0" velocity="40"/>
  </joint>
  <link name="body">
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <mass value="30.0"/>
      <!-- Warning: dummy inertia. Expect that inertia diagonal will be computed during load. -->
      <inertia ixx="1.0" ixy="0" ixz="0" iyy="1.0" iyz="0" izz="1.0"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="door2.glb" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision group="2">
      <origin rpy="0 0 0" xyz="0.48 -1.2 0"/>
      <geometry>
        <box size="0.85 2.3 0.026"/>
      </geometry>
    </collision>
  </link>
</robot>